CN103363951B - Trigonometry distance measurement system and method - Google Patents
Trigonometry distance measurement system and method Download PDFInfo
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Abstract
The present invention relates to a kind of Trigonometry distance measurement system and method thereof.This measuring system comprises light source, optical unit and receiving trap.Light source can be used to throw light on the point on object.Optical unit is rotating around the corresponding reflection ray of a plurality of positions of described throw light being caught from described point.Receiving trap can carry out the described reflection ray from described optical unit responding to process to carry out the measurement of plural number time described point to obtain the distance of this point.
Description
Technical field
The present invention relates to a kind of measuring system and method, particularly relate to trigonometry range observation (TriangulationDistanceMeasurement) system and method that one can be used to improve accuracy of measurement (Accuracy) and repeatability (Repeatability).
Background technology
To the size of object, such as carry out measuring to its thickness and can guarantee that this object has suitable framework or shape thus realizes suitable performance.Owing to having non-contacting characteristic, faster measuring speed and better simply framework, the measurement carried out based on trigonometry is widely used, is such as applied in astronomy and geographical measurement.
In the process of trigonometry range observation, typically, light can project on the point on object, senses the distance determining this point to from the reflected light of this point or a part for back-scattering light (Back-ScatteredLight) simultaneously.In order to improve accuracy and the repeatability thereof of measurement, common way is that expectation is only uniform from the backscattering of measurement point, due to its homogeneity, thus just can obtain measurement result accurately by measuring a part for uniform back-scattering light and improve the repeatability measured, this and body surface susceptibility (SurfaceSensitivity) or surface structure (SurfaceTexture) have relation.
But the body surface of processing includes the facet being similar to minute surface small in a large number or microstructure (Facets) usually.Each facet or microstructure have the orientation (Orientation) of its uniqueness.Due to the flaw in the change in the orientation of these facets or microstructure and other plane, want that it is more difficult that the back-scattering light from a specified point is uniformly distributed, it is inaccurate for which results in this some measurement.In addition, under the same measuring conditions, due to the change in the orientation of these microstructures, also can there are differences between the measurement result of the distance of difference, which results in the reduction of measuring repeatability, this can cause the conversion of the angle of the amount of the light that can respond to and reception light to cause due to the interference of light.
At present, multiple trial has been had to alleviate the impact of body surface susceptibility or surface structure in measuring process to improve the accuracy and repeatability measured.Such as, measure to obtain a plurality of measurement result to the different point of body surface, then measurement result is averaged to obtain an average result.But this kind of measuring method significantly can not improve accuracy and the repeatability of measurement, it can not meet the growing requirement to measurement accuracy and repeatability.
So, need to provide a kind of new Trigonometry distance measurement system and method to improve accuracy, measuring speed and the measuring repeatability measured.
Summary of the invention
An embodiment provides a kind of Trigonometry distance measurement system.This measuring system comprises light source, optical unit and receiving trap.Light source can be used to throw light on the point on object.Optical unit is rotating around the corresponding reflection ray of a plurality of positions of described throw light being caught from described point.Receiving trap can carry out the described reflection ray from described optical unit responding to process to carry out the measurement of plural number time described point to obtain the distance of this point.
Another embodiment of the present invention provides a kind of trigonometry distance measurement method.The method comprises use light source and carrys out throw light on the point on object; Use optical unit rotating around a plurality of positions of described throw light are caught from described point corresponding reflection ray and use receiving trap to obtain the distance of described point since the described reflection ray from described optical unit being carried out to respond to process.
Accompanying drawing explanation
Be described for embodiments of the invention in conjunction with the drawings, the present invention may be better understood, in the accompanying drawings:
Fig. 1 is the schematic diagram of an embodiment of Trigonometry distance measurement system of the present invention;
Fig. 2 is the schematic diagram of an embodiment of the measure setup of Trigonometry distance measurement system of the present invention;
Fig. 3 is the floor map of the measure setup shown in Fig. 2 of the present invention;
Fig. 4 be Trigonometry distance measurement system of the present invention the schematic diagram of another embodiment of measure setup; And
The schematic diagram of another embodiment of the measure setup that Fig. 5 is Trigonometry distance measurement system of the present invention.
Embodiment
Figure 1 shows that the schematic diagram of an embodiment of Trigonometry distance measurement system 10 of the present invention.In embodiments of the present invention, Trigonometry distance measurement system 10 can be used to the positional information to the point on body surface, and it includes but not limited to that range information is measured.In certain embodiment, Trigonometry distance measurement system 10 definition has offshore distance (StandoffDistance) or reference distance d1 and measurement range (MeasurementRange) d2, thus when object moves in measurement range d2, range observation can be carried out to the point be on the object of diverse location.
So-called " offshore distance d1 " can refer to the distance from the starting position of measurement range d2 to the window of measuring system 10 herein, and wherein, light projects outside system 10 by this window.So-called " measurement range d2 " can refer to the distance range measured since object to move along its path and can respond to back-scattering light.In certain example, offshore distance d1 and measurement range d2 is transformable and can determines according to the design of Trigonometry distance measurement system 10.
As shown in Figure 1, in one embodiment, triangulation system 10 comprises light source 11, optical unit 12 and receiving trap 13.Light source 11 can be used to produce and transmission ray 14 makes it project to be on the point 102 on the object 100 at position 101 place.In some applications, light source 11 can comprise laser.In other application, light source 11 also can comprise mercury-arc lamp (MercuryArcLamp), metal halide arc lamps (MetalHalideArcLamp), Halogen lamp LED (HalogenLamp), phosphorescence laser system (Laser/phosphorSystem), fiber coupled laser (FiberCoupledLaser), light emitting diode (Light-emittingDiode, LED) light source and white light source (WhiteLightSource).
Based on the difference of light source used, Trigonometry distance measurement system 10 can comprise laser triangulation Range Measurement System or other suitable optic triangle method Range Measurement Systems to carry out range observation.In a non-restrictive example, Trigonometry distance measurement system 10 can comprise the laser triangle displacement sensor of a routine or customization, the laser triangulation Range Measurement System that the model of being produced by rice iridium (Micro-Epsilon) company being positioned at Bavaria, Germany (Ortenburg) is OptoNCDT2300 as comprised, its offshore distance can be 130 millimeters, and measurement range can be 200 millimeters.
Optical unit 12 can be used to the reflection ray 15 of catching from the point 102 on object 100 and this light 15 is transferred to receiving trap 13.In some instances, optical unit 12 can comprise one or more optical element.In non-restrictive example, optical unit 12 can comprise object lens (ObjectLens) 110.Receiving trap 13 can be used to respond to the reflected light from the scattering of object 100.In one example, receiving trap 13 can include processing element (not shown) analyzes to calculate the point 102 on the object 100 being in position 101 place distance to the reflection ray 15 from optical unit 12.
In another example, receiving trap 13 is also by carrying out communication to complete analytical calculation with a processing element can carrying out light process.In non-restrictive example, so-called " point " can refer to the point on object, and this point can be the surface of the object comprising a plurality of small minute surface, and its size can change along with concrete application.
In certain embodiments, processing element is not limited to any treating apparatus that specifically can be used to perform Processing tasks of the present invention.In embodiments of the present invention, processing element can represent any can carry out computing or calculating, is necessary device for performing task of the present invention.As understood by those skilled in the art, processing element also can represent any can receive input and according to regulation this input of rule treatments, thus produce export device.In some instances, receiving trap 13 can be included in charge coupled cell or Position-Sensitive Detector (PositionSensitiveDetector, PSD), it can be included in the monolithic PIN photodiode (MonolithicPINPhotodiode) that one dimension or two dimension have homogeneous impedance.
Like this, in operation, light source, as laser 11 produce and transmission ray 14 on the point 102 on the object 100 being positioned at position 101 place.Subsequently, optical unit 12 catch and the reflection ray transmitted from point 102 to receiving trap 13, the enterprising row relax of such as Position-Sensitive Detector is to get the distance of the point 102 on the object 100 being positioned at position 101 place.
In the present embodiment, optical unit 12 is provided with optical axis (not shown), and it has certain angle with the axis 16 of the throw light 14 carrying out self-excitation light source 11, and this can be described as triangle range observation.In addition, as shown in Figure 1, when the different position that object 100 (shown in dotted line) moves into place in measurement range, behind the place of position 103 and 105, on it, the distance of corresponding point 104 and 106 just can be measured to.In certain application, point 102,104 and 106 can be point identical or different on object 100.
In some instances, the point on object has less size.In a non-restrictive example, the luminous point (LightSpot) projecting the point on object is of a size of 200 microns and is multiplied by 70 microns.Certainly, the size of luminous point can change along with different application.Trigonometry distance measurement system 10 shown in the embodiment of the present invention is only schematic, in certain embodiments, also can arrange one or more optical element and calibrate on the point for projecting on object light 14 in the light path of light 14.
Usually, in the process that the distance utilizing trigonometry to the point on body surface is measured, when upper to point from the ray cast of light source, from the scattering of this point reflected light can round the axis of the light from light source and form the spot area (Cone-ShapedSpeckleField) with conical by its shape.Therebetween, a part of reflected light is captured and carries out analysis to carry out range observation.
But, as previously mentioned, due to body surface may processed or manufacture include the facet being similar to minute surface small in a large number or microstructure (Facets).Due to the orientation of these facets or microstructure change and cause to be uniformly distributed around the axis of throw light from the back-scattering light that object is put, this also can think the surface sensitive of object.Like this, the reflected light of catching is only the reflection from certain single direction in the reflected light that object is put, this also just result in measurement inaccuracy.The change in so-called facet or microstructure orientation herein and rough object surfaces degree (SurfaceRoughness) or surface structure (SurfaceTexture) have relation.
In certain application, under the same measuring conditions, when measuring the distance of the difference be positioned in similar face, at this moment, the measuring repeatability (MeasurementRepeatability) that difference is measured or precision, also can be referred to as point-to-point measuring repeatability (PointtoPointMeasurementRepeatability) or precision, also can be subject to the impact of rough object surfaces degree or surface structure.In some instances, also can to the measuring repeatability of identical point, or be referred to as static measurement repeatability (StaticMeasurementRepeatability) and also improve.In embodiments of the present invention, so-called " accuracy " can refer to a measurement result under the same conditions and the independently degree that is close of result really.So-called " repeatability or precision " can refer to the consistance using identical equipment to the measurement result that same measured target is carried out at identical conditions.
Figure 2 shows that can to reduce surface sensitive to the schematic diagram in the embodiment improving the measure setup of the Trigonometry distance measurement system 10 of measurement accuracy and measuring repeatability in different measurement ranges.Figure 3 shows that the floor map of the measure setup shown in Fig. 2.In this embodiment, the assembly 18 (as shown in Figure 1) including optical unit 12 and receiving trap 13 can move relative to light source 11 thus carry out a repetition corresponding measurement in different positions.
In a non-restrictive example, as shown in Fig. 1 to Fig. 3, in measuring process, the frequency continuous print throw light 14 that light source 11 can be certain is on the point 102 on object 100.Assembly 18 round the optical axis 16 of light 14 carry out rotating from, optical unit 12 catches the back-scattering light (reflected light of scattering) 15 of a corresponding part from point 102 therebetween.In other examples, along with the rotation of assembly 18, light 14 also can be projected onto on object 100 at a certain time interval, and such as, when assembly 18 moves between adjacent two positions, light source 11 can not throw light 14.
In one example, assembly 18 can be turned to a plurality of position thus can come from different observed rays to measure accordingly.This plurality of position can be arranged around central point 17.Different rotating mechanisms, as solenoid or other suitable mechanisms can make for runner assembly 18.For the ease of diagram, along with the rotation of assembly 18, optical unit 12 can be used for example is to illustrate that it rotates around central point 17.In addition, also can illustrate that the rotation that it can form circumference at least partially to measure accordingly for example by receiving trap 13.
In some applications, as shown in Figure 2, the first range observation can carry out at primary importance 107 place the first measurement result obtaining a little 102.After completing the first range observation, assembly 18 is moveable to the second place 108 place and carries out the second measurement with the second measurement result obtaining a little 102.After completing second distance measurement, assembly 18 is moveable to the 3rd position 109 place and carries out the 3rd range observation with the 3rd measurement result obtaining a little 102.
Similar, along with assembly 18 moves to different positions, a plurality of measurements corresponding with its position just can be carried out with a plurality of measurement results obtaining a little 102.In addition, when in the process of carrying out measuring in corresponding position, assembly 18 also can rotate by continuous print between primary importance 107 and the 3rd position 19 or rearmost position.
In the present embodiment, the rotation of assembly 18 can forming curves 19, and position 107 to 109 is positioned on this curve 19.In certain example, the rotation of assembly 18 can form the curve 19 with different shape, such as circular or oval.In this example, curve 19 is circular, and central point 17 can be used as the center of circle of circular 19 and is positioned on optical axis 16.In a non-restrictive example, in the plural number time of point 102 is measured, the angular span θ of assembly 18 can be 90 degree, as from the scope of negative 45 degree to positive 45 degree.This angular span θ can be the center of circle 17 respectively with corresponding first and rearmost position, as position 107 and 109 line between angle.Each α of taking measurement of an angle of assembly 18 can be in from the scope of 5 degree to 15 degree, as 10 degree.This take measurement of an angle can be the center of circle 17 respectively with adjacent two positions, as position 107 and 108 or position 108 and 109 line between angle.In other examples, the α that takes measurement of an angle of assembly 18 can be change.The take measurement of an angle α of assembly 18 in different measurements may also be different.
In the embodiment shown in Fig. 1-3, when in different positions in the distance measurement process of point 102, measuring system 10 uses single component 18.Optical unit 12 is fixed to one another with the position of receiving trap 13.In addition, light source 11 and the position of measured point may also be and be fixed to one another.In one example, it is fixing for putting 102 positions.
Like this, because the plural number carrying out a little 102 at the diverse location place distributed around central point 17 is measured, just can obtain a plurality of measurement result and it is processed, being such as averaged to obtain the measurement result of more accurately 102.Such as, to same point on five diverse locations in the scope between being distributed in around the position 107 to 109 of central point 17, as put 102 measurements carried out, so that corresponding five measurement results can be obtained.Subsequently, be averaged to these five measurement results and obtain average measurement result, this result just can be considered to the final measurement of a little 102.
Similar, in another example, also can to same point on 50 diverse locations in the scope between being distributed in around the position 107 to 109 of central point 17, as put 102 measurements carried out, so that corresponding five measurement results can be obtained.Subsequently, be averaged to these 50 measurement results and obtain average measurement result, this result just can be considered to the final measurement of a little 102.
In certain application, in the distance measurement process to point 102, measurement result can be subject to surperficial noise (SurfaceNoise) impact and cause measurement result inaccurate.In a non-restrictive example, in order to alleviate or avoid the impact of surperficial noise, in a plurality of measurement result processing procedures of point 102, can first minimum and maximum measurement result be ignored or be got rid of.Then be averaged to obtain final measurement result to remaining measurement result.
In other examples, its three times of standard deviation values and can be calculated based on all measurement results.Then, mark deviate three times of each measurement result and calculating and compare, thus the measurement results being greater than or exceeding three times of mark deviates are ignored or got rid of.Finally, remaining measurement result on average with the measurement result after the process obtaining a little 102.
Other application in, when after range observation is carried out to point 102 and the position of object does not change time, similar measuring process can be utilized to measure to obtain corresponding measurement result to points different on object.In addition, as shown in Figure 1, other positions in the moveable measurement range d2 of object 100, such as position 103 and 105.In each position, can the similar measuring process of profit to the point on object 100, carry out plural number time measurement as put 104 or 106.
In a non-restrictive example, Range Measurement System 10 can under the same measuring conditions to different bands point, as five points are measured accordingly.In the measurement of each point, the angular span of assembly 18 can be in from the scope of negative 45 degree to positive 45 degree, and each takes measurement of an angle and can be 10 degree.Certainly, take measurement of an angle and can change.
Thus, along with assembly 18 is round the rotation of optical axis 16, ten measurement results can be obtained relative to each point and it is processed.Like this, the measurement result after five process accordingly can just be obtained relative to five points.In one embodiment, based on the comparison of the measurement result after five process, measuring accuracy can be better than 8 microns, and this shows that Range Measurement System 10 of the present invention has higher measurement performance, improves the measuring accuracy of measuring system.In certain application, under the same measuring conditions, by the comparison of the measurement result to the difference on same level on object, also can the shape of effects on surface determine.
In the illustrated example shown in fig. 2, the assembly 18 including receiving trap 13 can rotate around the optical axis 16 of light 14 to be measured.In other application, receiving trap 13 may also be actionless, and its position is fixing.Figure 4 shows that the schematic diagram of another embodiment of the measure setup of Trigonometry distance measurement system 10 of the present invention.
Embodiment shown in Fig. 2 with Fig. 4 is similar.The two difference is in the embodiment shown in fig. 4, and the position of receiving trap 13 is fixing.Light source cell 12 comprises object lens 100 and capturing unit 20.Capturing unit 20 can be used to a part of scattered reflection light 15 of catching on a plurality of positions distributed round light 14 from the point 102 of object 100 and it is transferred to receiving trap 13.In the present embodiment, rotating during capturing unit 20, it is provided with the assembly (mark) including the first reflective optical devices 21 and the second reflective optical devices 22.In non-restrictive example, the first reflective optical devices 21 and the second reflective optical devices 22 can comprise reflective mirror (ReflectiveMirrors).
Like this, when operating, similar to the rotation of the assembly 18 shown in Fig. 2 to Fig. 3, the first reflective mirror 21 can rotate to catch on a plurality of position around the optical axis 16 of light 14 and reflect a corresponding part from scattered reflection light 15 to the second reflective mirror 22 of point 102.Subsequently, the second reflective mirror 22 receives and the corresponding reflection ray from the first reflective mirror 21 is reflexed on lens 110 so that receiving trap 13 senses.In some applications, when operating, the first reflective mirror 21 can rotate continuously, and receiving trap 13 can sense corresponding light when the first reflective mirror 21 turns to the position of expectation.Certainly, in other examples, the first reflective mirror 21 also can discontinuously rotate.
In the present embodiment, in operation, the position of receiving trap 13 is fixing.In some instances, the position of lens 110 may also be fixing and receiving trap 13 is also fixing relative to lens 110.In addition, in order to ensure the second reflective mirror 22 can the light reflection from the first reflective mirror 21 to lens 110 thus received device 13 sensed, the second reflective mirror 22 also can carry out rotating and can according to the position of the position adjustment of the first reflective mirror 21 self so that the light reflection from the first reflective mirror 21 to lens 110 thus its process in receiving trap 13.
In certain application, capturing unit 20 also can comprise other suitable optical elements to have coordinated measurement with fixing receiving trap 13.As shown in Figure 5, the embodiment shown in embodiment to Fig. 4 is similar.The two difference is in Figure 5, and capturing unit 20 comprises prism 23, and it is arranged in the light path of the reflection ray of the scattering from point 102.In some instances, one or more prism 23 can be set.
Like this, similar to the embodiment shown in Fig. 4, in operation, along with prism 23 is around the rotation of the optical axis 16 of light 14, on a plurality of different position, prism 23 catch and transmit the scattered reflection light 15 of a corresponding part from point 102 to lens 110 thus its can process in receiving trap 13.
In certain embodiment, Range Measurement System 10 includes optical unit 12, its a plurality of different position that can distribute at the optical axis around light is caught corresponding from the reflection ray that body surface is put, thus reduces surface sensitive.Measure based on to the plural number of point, accuracy and the repeatability of measurement just can be improved.Further, Range Measurement System 10 also can carry out the measurement of better quality in different measurement ranges.
Under the same measuring conditions, due to the use of Range Measurement System 10, also can be improved to the measuring accuracy of difference on body surface or consistance.Such as, in one example, the measuring accuracy of the point-to-point of the Range Measurement System 10 in the embodiment of the present invention is approximately 8 microns, and the measuring accuracy of point-to-point is approximately 59 microns in traditional Range Measurement System, it is approximately 7 times of the measuring accuracy of the point-to-point of the Range Measurement System 10 in the embodiment of the present invention.
In addition, in some instances, Range Measurement System 10 be provided with single assembly 18 with rotate carrying out measure.In other examples, receiving trap 13 can be fixing, and prism 23 or reflective mirror 21-22 can be provided to measure.Like this, present system structure is just fairly simple, saves system cost, adds the adaptability of system, also can renovate traditional Range Measurement System.
Although describe the present invention in conjunction with the specific embodiments, those skilled in the art will appreciate that and can make many amendments and modification to the present invention.Therefore, recognize, the intention of claims is to cover all such modifications in true spirit of the present invention and scope and modification.
Claims (16)
1. a Trigonometry distance measurement system, comprising:
Light source, it can be used to throw light on the point on object;
Optical unit, it is rotating around the corresponding reflection ray of a plurality of positions of described throw light being caught from described point; And
Receiving trap, it can carry out the described reflection ray from described optical unit responding to process to carry out the measurement of plural number time described point to obtain the distance of this point.
2. measuring system as claimed in claim 1, wherein said point can refer to the surface including a plurality of microstructure on object.
3. measuring system as claimed in claim 1, the optical axis that wherein said a plurality of position is arranged on round described throw light is formed circumferentially.
4. measuring system as claimed in claim 1, wherein said optical unit can rotate around the optical axis of described throw light and catch described reflection ray.
5. measuring system as claimed in claim 4, wherein said receiving trap can rotate along with described optical unit.
6. measuring system as claimed in claim 4, the position of wherein said receiving trap is fixing, described optical unit comprise can be used to catch from the described reflection ray of described point capturing unit and described reflection ray can be transferred to the lens of described receiving trap.
7. measuring system as claimed in claim 6, wherein said capturing unit can rotate around the optical axis of described throw light and catch described reflection ray.
8. measuring system as claimed in claim 7, wherein said capturing unit comprises prism or comprises the assembly being provided with the first reflective mirror and the second reflective mirror; Described first reflective mirror can be used to rotate around the optical axis of described throw light catch described reflection ray; Described second reflective mirror can be used to the described reflection ray from described first reflective mirror to be transferred to described lens.
9. a trigonometry distance measurement method, comprising:
Light source is used to carry out throw light on the point on object;
Use optical unit rotating around the corresponding reflection ray of a plurality of positions of described throw light being caught from described point; And
Use receiving trap to carry out having obtained since induction processes the distance of described point to the described reflection ray from described optical unit.
10. measuring method as claimed in claim 9, wherein catches step and comprises optical axis around described throw light to rotate described optical unit to catch described reflection ray.
11. measuring methods as claimed in claim 10, wherein said induction treatment step comprises can rotate described receiving trap to carry out induction process to the described reflection ray from described optical unit along with the rotation of described optical unit.
12. measuring methods as claimed in claim 10, the position of wherein said receiving trap is fixing, described optical unit comprise can be used to catch from the described reflection ray of described point capturing unit and described reflection ray can be transferred to the lens of described receiving trap.
13. measuring methods as claimed in claim 12, wherein said capturing unit can rotate around the optical axis of described throw light and catch described reflection ray, and described capturing unit comprises prism or comprises the assembly being provided with the first reflective mirror and the second reflective mirror; Described first reflective mirror can be used to rotate around the optical axis of described throw light catch described reflection ray; Described second reflective mirror can be used to the described reflection ray from described first reflective mirror to be transferred to described lens.
14. measuring methods as claimed in claim 9, wherein said induction treatment step comprises a plurality of measurement results obtaining described point; Get rid of the minimum and maximum measurement result in described a plurality of measurement result and remaining measurement result is averaged and obtain the distance of described point.
15. measuring methods as claimed in claim 9, wherein said induction treatment step comprises a plurality of measurement results obtaining described point; Determine three times of standard deviation values of described a plurality of measurement result; Get rid of the result that is greater than described three times of standard deviation values in described a plurality of measurement result and remaining measurement result is averaged and obtain the distance of described point.
16. measuring methods as claimed in claim 9, wherein this measuring method can be used to the measuring repeatability improving point-to-point.
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| CN104132639B (en) * | 2014-08-15 | 2018-06-01 | 上海思岚科技有限公司 | A kind of micro-optical scanning range unit and method |
| CN104165596B (en) * | 2014-09-02 | 2017-01-25 | 南京中科神光科技有限公司 | Method and system for measuring defocusing amount |
| CN104266686B (en) * | 2014-10-28 | 2016-05-11 | 国家电网公司 | Transmission line of electricity scissors crossing wireless monitoring method and device |
| US10746544B2 (en) | 2016-01-29 | 2020-08-18 | ams Sensors Singapore Pte. Ltd | Optoelectronic modules and methods for operating the same |
| CN106352801B (en) * | 2016-10-17 | 2018-03-02 | 海伯森技术（深圳）有限公司 | A kind of modification method of laser triangle displacement sensor and its nonlinearity erron |
| US10704904B2 (en) * | 2018-03-20 | 2020-07-07 | Pixart Imaging Inc. | Distance detection device |
| CN109186465B (en) * | 2018-09-10 | 2019-08-16 | 厦门大学 | The photoelectric chip and electro-optical system of measurement distance and rotation angle |
| CN112269186B (en) * | 2020-10-09 | 2023-05-09 | 华中科技大学鄂州工业技术研究院 | Range-adjustable laser triangular distance measuring device and method |
| CN115876170B (en) * | 2023-01-18 | 2023-05-09 | 山西旭睿金盟科技有限公司 | River channel flow area detection device and detection method |
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